Pressing frame type net grabbing manipulator and using method

Abstract

The pressing frame type net grabbing manipulator comprises a net grabbing disc, a rectangular cover is fixed to the center of the net grabbing disc, half-tooth type pressing plates are rotationally installed on the two sides of the interior of the rectangular cover through rotating shafts, and a double-face tooth-shaped block is installed in the middle of the two half-tooth type pressing plates through gear engagement; the lower portion of the double-face tooth-shaped block is arranged in the center of the net grabbing disc in a sliding mode, the bottom end of the double-face tooth-shaped block is fixedly connected with the tail end of the pull rod through a threaded sleeve, the other end of the pull rod sequentially penetrates through the double-end flange plate and the rotary oil cylinder to be fixedly connected with a piston rod of the oil cylinder, and the oil cylinder is fixed in the oil cylinder installation base. The double-end flange plate is simultaneously connected with the net grabbing disc and the rotating oil cylinder, and the oil cylinder installation seat is fixedly installed at the tail end of the rotating oil cylinder. According to the mechanical arm, the rotating type net grabbing mechanism with the half gear and the double-face rack is adopted to replace an existing wedge block type sliding telescopic structure, the smoothness and reliability of the net grabbing process are well guaranteed, and the problem that the clamping jaw is stuck is effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of anchor rod trolleys, in particular to a frame-pressing type net-grabbing manipulator and a use method thereof. Background Art

[0002] In the process of using anchor trolleys to support mine tunnels, support meshes need to be installed. In the specific installation process of support meshes, the commonly used installation process is to first use a grabbing manipulator to grab the support mesh, and then use an adjustment mechanism to rotate and adjust the installation angle of the support mesh. After the support mesh is adjusted, the top mesh mechanism is used to tighten the support mesh to the top inner wall of the mine tunnel. Finally, the anchor operation is performed to support and fix the support mesh.

[0003] The above-mentioned support mesh installation process is relatively complicated, resulting in a complex structure of the working mechanism of the existing anchor trolley for installing the support mesh, resulting in low efficiency of the support mesh installation operation.

[0004] In order to solve the above problems, our company has developed and applied for a net-grabbing manipulator for an anchor trolley and a method of use, application number: CN202410282309.8. Application date: 2024-03-13, see Figure 1 and 2 , comprising a rotary cylinder (1), a clamping cylinder base (3) being fixedly mounted on the rotary shaft of the rotary cylinder (1) via a transition connecting plate (2), a clamping cylinder base (3) being fixedly mounted on a clamping cylinder outer shell (5), a clamping cylinder (11) being fixedly mounted inside the clamping cylinder outer shell (5) and at the top of the clamping cylinder base (3); a double-sided wedge-shaped slider (9) being fixedly mounted at the end of the piston rod (1101) of the clamping cylinder (11) via a bolt assembly (10); two wedge-shaped surfaces of the double-sided wedge-shaped slider (9) respectively forming a wedge-shaped sliding fit with the corresponding clamping slider (6), and the two clamping sliders (6) are driven to extend or retract synchronously through the double-sided wedge-shaped slider (9); the clamping slider (6) and the T-shaped hole (504) on the clamping jaw outer shell (5) forming a sliding fit; an oil plug (7) being fixedly mounted at one end of the head of the clamping jaw outer shell (5).

[0005] However, the above-mentioned specific structure of the net hanging robot has the following problems in the specific use process: (1) Since the outer shell (5) of the clamping claw is cylindrical, it cannot fit well with the rectangular mesh after being inserted into the rectangular mesh, which causes the mesh to shake during the subsequent rotation process and unstable grasping; (2) Since it is mainly clamped by the clamping grooves provided on the clamping jaw slider (6) and the steel wire of the mesh, the steel wire of the mesh is locally squeezed and deformed, thereby causing the mesh holes to deform; (3) Since the double-sided wedge-shaped slider (9) is used to form a wedge-shaped fit with the clamping claw slider (6), the dovetail groove structure used therein has a large friction force during the pulling process, which causes it to be easily worn during long-term heavy-load operation, thereby causing the double-sided wedge-shaped slider (9) to be scrapped.

[0006] In response to the above problems, our company has developed and applied for an internally supported square head net grabbing manipulator and its use method, application number: 2024110669152, application date: 2024-03-13, application date: 2024-08-06, for details, please refer to Figure 3 , comprising a connecting seat (1), a cylinder seat (2) is fixedly mounted on the top of the connecting seat (1), a cylinder connecting cover (4) is fixedly mounted on the top of the cylinder seat (2) via a first long bolt (3), a small push-pull cylinder (10) is fixedly mounted inside the cylinder connecting cover (4) and located on the top of the cylinder seat (2), a sliding body (6) is fixedly mounted on the top of the cylinder connecting cover (4), a push-pull slider (8) is slidably mounted on the cylindrical cavity (601) of the sliding body (6), and the bottom center of the push-pull slider (8) is connected via a connecting screw (11 ) is fixedly connected to the piston rod of the push-pull small oil cylinder (10), the bottom end of the push-pull slider (8) is fixedly installed with a bottom stop cover (10) through a set screw (9), and a translation slider (7) is slidably installed inside the symmetrically arranged T-shaped inclined grooves (801) on the push-pull slider (8), and the extended limit plate (705) of the translation slider (7) simultaneously passes through the rectangular groove (602) of the sliding body (6), and after the extended limit plate (705) is extended, it cooperates with the limit surface (607) on the sliding body (6) to form a limit slot (13).

[0007] However, the above-mentioned specific structure of the net grabbing manipulator still has the following problems during its specific use: (1) Due to the wedge structure, the sliding parts are subject to heavy loads during use, resulting in severe friction and wear of the wedges, which in turn leads to excessive wear and a short service life; (2) Due to the wedge structure, if there is a lack of lubrication during the relative sliding of the wedges, the friction will be large and the problem of jamming may occur easily; (3) Due to the use of a single square head structure, during the process of catching the net, only a single square head is inserted into the mesh, and the area of ​​the mesh is relatively large. In this way, during the process of catching and rotating the mesh, there is a problem of mesh shaking and unstable catching; (4) The gripper cylinder of the existing net grabbing manipulator is integrated inside the rotating cylinder, so the gripper cylinder needs to rotate with the rotating cylinder all the time, and floating stones falling off the mine roof often damage the hydraulic cylinder joints. Summary of the invention

[0008] In order to solve the current technical problems, the main purpose of the present invention is to provide a pressure frame type net-grabbing manipulator and a method of use. This manipulator adopts a rotating net-grabbing mechanism of a half gear and a double-sided rack to replace the existing wedge-type sliding telescopic structure, which well ensures the smoothness and reliability of the net-grabbing process and effectively solves the problem of the clamping claws getting stuck.

[0009] In order to realize the above-mentioned technical features, the purpose of the present invention is achieved as follows: an internally supported square-headed net-grabbing manipulator, characterized in that it includes a net-grabbing disc, a rectangular cover is fixed to the central part of the net-grabbing disc, and semi-toothed pressure plates are rotatably installed on both sides of the inner part of the rectangular cover through a rotating shaft, and a double-sided toothed block is installed at the middle part of the two groups of semi-toothed pressure plates through gear meshing, and the lower part of the double-sided toothed block is slidably arranged in the central part of the net-grabbing disc, and the bottom end of the double-sided toothed block is fixedly connected to the end of the pull rod through a threaded sleeve, and the other end of the pull rod is fixedly connected to the piston rod of the push-pull small oil cylinder through a double-end flange and a rotating oil cylinder in turn, and the push-pull small oil cylinder is fixed inside the oil cylinder mounting seat, and the double-end flange is connected to the net-grabbing disc and the rotating oil cylinder at the same time, and the oil cylinder mounting seat is fixedly installed at the end of the rotating oil cylinder.

[0010] The rectangular cover comprises a rectangular block, a rectangular groove is arranged in the middle part of the rectangular block, shaft holes for installing the rotating shaft are symmetrically arranged on both sides of the inner part of the rectangular groove, radial locking bolt holes are processed at the position where the shaft holes are located on the side end faces of the rectangular block, and a plurality of groups of first bolt holes are symmetrically processed on the bottom end face of the rectangular block and are fixedly connected to the net catching disc by bolts.

[0011] An upper arc block is installed at the top of the rectangular groove, and the upper arc block contacts and cooperates with the arc cover fixed on the top of the semi-toothed pressure plate; A lower arc block is installed at the bottom of the rectangular groove, and the lower arc block is in contact with and matched with the lower part of the semi-toothed pressing plate.

[0012] The net-catching disc comprises a disc body, the end face of which is processed with a plurality of mesh accommodating grooves which are arranged crosswise in transverse and longitudinal directions, a rectangular cover mounting groove is arranged at the center of the disc body, a rectangular groove is processed at the center of the rectangular cover mounting groove, and a double-sided toothed block and the rectangular groove form a sliding fit; a stepped hole is processed on the disc body, the position where the stepped hole is located is fixedly connected to the top end of the double-end flange by bolts, a second bolt hole is processed on the rectangular cover mounting groove, and the rectangular cover is fixedly installed at the position where the second bolt hole is located by bolts.

[0013] The top end surface outer circle of the double-end flange is processed with a top flange hole, the central part of the double-end flange is processed with a groove, the periphery of the groove is processed with a bottom flange hole, and the central part of the groove is processed with a first center hole.

[0014] The rotary oil cylinder comprises a cylinder body, a second center hole is processed at the center of the cylinder body, a top flange is processed at the top of the cylinder body, the second center hole is used for passing the pull rod, and the top flange is used for connecting the double-end flange.

[0015] A cylinder mounting cavity is processed at the center of the cylinder mounting seat, a window is arranged on the side of the cylinder mounting cavity, a third bolt hole is processed on the periphery of the top end of the cylinder mounting seat and is fixedly connected to the rotating cylinder by long bolts, and a fourth bolt hole for fixing the push-pull small cylinder is processed at the position of the cylinder mounting cavity.

[0016] The semi-toothed pressure plate includes a gear cylinder with a gear machined on it, a pressure plate arranged on the outer wall of the gear cylinder, an arc-shaped side plate arranged between the pressure plate and the outer wall of the gear cylinder, and a central shaft hole for installing a rotating shaft machined on the central part of the gear cylinder.

[0017] The double-sided toothed block comprises a rectangular block body, the rectangular block body and the center of the net-catching disc form a sliding fit, the bottom center of the rectangular block body is processed with an internal threaded hole for connecting the threaded sleeve, the top of the rectangular block body is symmetrically provided with a first rack and a second rack, the first rack and the second rack respectively form a gear rack transmission with the corresponding semi-toothed pressure plate; An inner support column is fixed at the center of the top end of the pull rod, and the inner support column is arranged inside the cavity of the internal threaded hole.

[0018] A method for using an internally supported square-headed net-grabbing manipulator, wherein the method is implemented by using the internally supported square-headed net-grabbing manipulator, and comprises the following steps: Step 1: Installation of the net grabbing manipulator: The net grabbing manipulator is fixedly installed on the working mechanism of the anchor trolley; S2, picking up the mesh: The working mechanism is controlled by the anchor trolley, and the net grabbing manipulator is driven to move to the position where the mesh is stored. At this time, the two semi-toothed pressure plates are retracted inside the rectangular cover, and then the rectangular cover and the net grabbing disc are inserted into the mesh holes of the mesh; S3, mesh grip: After the net-catching disc is inserted into place, the push-pull small oil cylinder is started, and the pull rod is driven by the push-pull small oil cylinder, and the double-sided toothed block is driven by the pull rod, and the double-sided toothed block is meshed with the half-toothed pressure plates on both sides at the same time, and then the two groups of half-toothed pressure plates are rotated and opened around the rotating shaft, and the net is clamped on the net-catching disc; S4, picking up the mesh: After the mesh is grasped, the working mechanism of the anchor trolley is controlled to move the mesh grasping manipulator to the mesh installation position; S5, mesh rotation adjustment: When the installation angle of the mesh needs to be adjusted, the rotary cylinder on the mesh grabbing manipulator is started, and the rotary cylinder drives the entire mesh grabbing manipulator to rotate, thereby driving the corresponding mesh to rotate to achieve angle adjustment; S6, mesh fixation: After the mesh angle is adjusted, the pull rod is driven by pushing and pulling the small oil cylinder, and the double-sided toothed block is driven by the pull rod. The double-sided toothed block is meshed with the half-toothed pressure plates on both sides at the same time, and then the two sets of half-toothed pressure plates are rotated and retracted around the rotating shaft, and then the mesh is released after the two half-toothed pressure plates are retracted synchronously, and then the anchor is driven into the anchor with the help of the anchor trolley, so as to fix the mesh in the mine. S7, resetting of the net-grabbing manipulator; After the previous mesh is fixed, repeat S2-S6 to finally install all the meshes.

[0019] The present invention has the following beneficial effects: 1. The manipulator of the present invention adopts a rotating net-grabbing mechanism of a half gear and a double-sided rack to replace the existing wedge-type sliding telescopic structure, which well ensures the smoothness and reliability of the net-grabbing process and effectively solves the problem of the clamping claw being stuck.

[0020] 2. The rectangular cover can be used to prevent the semi-toothed pressure plate and double-sided toothed block inside from getting stuck due to stones entering the inside during construction.

[0021] 3. The lower arc block can cooperate with the semi-toothed pressure plate to prevent stones from entering the interior of the rectangular cover.

[0022] 4. The net-grabbing disc can be used to effectively support and fix the mesh, thereby increasing the contact area between the net-grabbing disc and the mesh, ensuring the reliability of the mesh fixation and preventing the mesh from shaking during rotation.

[0023] 5. The net-catching disc and the rotating cylinder can be connected simultaneously through the double-end flange.

[0024] 6. The above-mentioned rotating oil cylinder can be used to support the fixed oil cylinder mounting seat and guide the pull rod.

[0025] 7. The oil cylinder mounting seat can be used to fix the oil cylinder, thereby providing opening or retracting power for the semi-toothed pressure plate through the oil cylinder, and at the same time providing good protection for the oil cylinder.

[0026] 8. The semi-toothed pressing plate can form a gear rack transmission with the double-sided toothed block, and the mesh can be pressed and fixed by rotating the semi-toothed pressing plate to open or close it.

[0027] 9. The above-mentioned double-sided toothed block can cooperate with the semi-toothed pressure plates on both sides at the same time, thereby achieving mesh compression through the semi-toothed pressure plates.

[0028] 10. The reliability of the support for the double-sided toothed block is enhanced by the internal support column, thereby ensuring its stability.

[0029] 11. Improve the grid spacing of the mesh holding slot of the net grabbing manipulator, and solve the problem that the mesh sizes of various mines are not uniform and cannot be grasped. Successfully avoid the problem that the drill rod and the net grabbing manipulator are equally spaced, and the drill rod just drills on the mesh steel bars when it impacts and rotates.

[0030] 12. The problem of the net-grabbing manipulator being able to achieve 360-degree rotation without dead angles without touching any part of the working mechanism has been solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0032] Figure 1 This is the overall structure diagram of our company's existing net-grabbing manipulator from the first perspective.

[0033] Figure 2 This is the overall structure diagram of the net-grabbing manipulator currently available in our company from the second perspective.

[0034] Figure 3 This is the structural diagram of our company's existing internally supported square-headed net-grabbing manipulator.

[0035] Figure 4 It is a three-dimensional diagram from the first perspective of the present invention.

[0036] Figure 5 It is a three-dimensional diagram from the second viewing angle of the present invention.

[0037] Figure 6 It is a three-dimensional diagram from the third viewing angle of the present invention.

[0038] Figure 7 It is a top view of the present invention.

[0039] Figure 8 It is the front view of the present invention.

[0040] Fig. 9 The present invention Figure 8 Medium AA view.

[0041] Fig.10 It is a partial diagram of the cooperation between the semi-toothed pressure plate and the double-sided toothed block of the present invention.

[0042] Fig.11 It is a three-dimensional diagram of the rectangular cover of the present invention from the first viewing angle.

[0043] Fig.12It is a three-dimensional diagram of the rectangular cover of the present invention from the second viewing angle.

[0044] Fig.13 It is a three-dimensional diagram of the net-catching disc of the present invention.

[0045] Fig.14 It is a three-dimensional diagram of the semi-toothed pressure plate of the present invention from the first perspective.

[0046] Fig.15 It is a three-dimensional diagram of the semi-toothed pressing plate of the present invention from the second viewing angle.

[0047] Fig.16 It is a three-dimensional diagram of the rotary cylinder of the present invention.

[0048] Fig.17 It is a three-dimensional diagram of the oil cylinder mounting seat of the present invention from the first perspective.

[0049] Fig.18 It is a three-dimensional diagram of the oil cylinder mounting seat from the second viewing angle of the present invention.

[0050] Fig.19 It is a three-dimensional diagram of the oil cylinder mounting seat of the present invention from the third viewing angle.

[0051] Fig. 20 It is a three-dimensional diagram of the double-end flange of the present invention.

[0052] Fig.21 It is a three-dimensional diagram of the double-sided toothed block of the present invention from the first perspective.

[0053] Fig. 22 It is a three-dimensional diagram of the double-sided toothed block of the present invention from a second viewing angle.

[0054] In the figure: rectangular cover 1, net catching disc 2, upper arc block 3, arc cover 4, semi-toothed pressure plate 5, rotating cylinder 6, cylinder mounting seat 7, double-end flange 8, long bolt 9, push-pull small cylinder 10, double-sided toothed block 12, rotating shaft 13, inner support column 14, threaded sleeve 15, pull rod 16, lower arc block 17; Rectangular block 101, axial hole 102, radial locking bolt hole 103, rectangular groove 104, first bolt hole 105; Disc body 201, mesh receiving slot 202, stepped hole 203, rectangular cover mounting slot 204, second bolt hole 205, rectangular slot 206; Arc-shaped side plate 501, pressure plate 502, central shaft hole 503, gear cylinder 504; The second center hole 601, the top flange 602, and the cylinder body 603; The third bolt hole 701, the oil cylinder installation cavity 702, and the window 703; Rectangular block body 1201 , first rack 1202 , second rack 1203 , internal threaded hole 1204 . DETAILED DESCRIPTION

[0055] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0056] Embodiment 1: See also Figure 4-22 The inner-supported square-head net-grabbing manipulator comprises a net-grabbing disc 2, a rectangular cover 1 is fixed at the center of the net-grabbing disc 2, and semi-toothed pressure plates 5 are rotatably installed on both sides of the inner part of the rectangular cover 1 through a rotating shaft 13. A double-sided toothed block 12 is installed at the middle part of the two groups of semi-toothed pressure plates 5 through gear meshing. The lower part of the double-sided toothed block 12 is slidably arranged at the center of the net-grabbing disc 2, and the bottom end of the double-sided toothed block 12 is fixedly connected to the end of the pull rod 16 through a threaded sleeve 15. The other end of the pull rod 16 passes through a double-end flange 8 and a rotating cylinder 6 in turn and is fixedly connected to the piston rod of a push-pull small cylinder 10. The push-pull small cylinder 10 is fixed inside a cylinder mounting seat 7. The double-end flange 8 is connected to the net-grabbing disc 2 and the rotating cylinder 6 at the same time, and the cylinder mounting seat 7 is fixedly installed at the end of the rotating cylinder 6. This manipulator adopts a rotating net-grabbing mechanism with a half gear and a double-sided rack to replace the existing wedge-type sliding telescopic structure, which well ensures the smoothness and reliability of the net-grabbing process and effectively solves the problem of the clamping claws getting stuck. In the specific use process, the small oil cylinder 10 can drive the pull rod 16 by pushing and pulling, and the double-sided toothed block 12 is driven by the pull rod 16, and the two groups of half-toothed pressure plates 5 are synchronously driven by the double-sided toothed block 12, and then the mesh is clamped by opening or retracting the two groups of half-toothed pressure plates 5. In addition, by adopting the net-grabbing disc 2, the matching and fixing area between the net and the net is increased, which effectively prevents the subsequent shaking of the net and ensures the stability and reliability of the net-grabbing.

[0057] Furthermore, the rectangular cover 1 includes a rectangular block 101, a rectangular groove 104 is provided in the middle of the rectangular block 101, shaft holes 102 for installing the rotating shaft 13 are symmetrically provided on both sides of the rectangular groove 104, radial locking bolt holes 103 are processed on the side end surface of the rectangular block 101 and located at the position of the shaft hole 102, and a plurality of first bolt holes 105 are symmetrically processed on the bottom end surface of the rectangular block 101 and fixedly connected to the net catching disc 2 by bolts. The above-mentioned rectangular cover 1 can be used to prevent the semi-toothed pressure plate 5 and the double-sided toothed block 12 inside from getting stuck due to stones entering the inside during construction.

[0058] In addition, the rectangular block 101 can realize the rotational cooperation installation of the semi-toothed pressure plate 5, thereby ensuring that the semi-toothed pressure plate 5 can be rotated to open or retract.

[0059] Furthermore, an upper arc block 3 is installed at the top of the rectangular groove 104, and the upper arc block 3 is in contact and cooperate with the arc cover 4 fixed on the top of the semi-toothed pressure plate 5; the upper arc block 3 can cooperate with the arc cover 4 to prevent stones from entering the interior of the rectangular cover 1.

[0060] Furthermore, a lower arc block 17 is installed at the bottom of the rectangular groove 104, and the lower arc block 17 contacts and cooperates with the lower part of the semi-toothed pressing plate 5. The lower arc block 17 can cooperate with the semi-toothed pressing plate 5 to prevent stones from entering the interior of the rectangular cover 1.

[0061] Furthermore, the net-catching disc 2 comprises a disc body 201, the end surface of which is processed with a plurality of mesh accommodating grooves 202 arranged in a horizontal and vertical cross pattern, a rectangular cover mounting groove 204 is arranged at the center of the disc body 201, a rectangular groove 206 is processed at the center of the rectangular cover mounting groove 204, and the double-sided toothed block 12 forms a sliding fit with the rectangular groove 206; a stepped hole 203 is processed on the disc body 201, the position where the stepped hole 203 is located is fixedly connected to the top of the double-end flange 8 by bolts, a second bolt hole 205 is processed on the rectangular cover mounting groove 204, and the rectangular cover 1 is fixedly installed at the position where the second bolt hole 205 is located by bolts. The net-catching disc 2 can be used to effectively support and fix the mesh, increase the contact area between it and the mesh, ensure the reliability of the mesh fixation, and prevent its shaking during rotation. In the specific grabbing process, the disc 201 is inserted into the inside of the mesh, and the mesh receiving groove 202 is ensured to just accommodate the mesh, and then the mesh is pressed by means of the semi-toothed pressing plate 5. By improving the spacing of the mesh receiving groove 202 of the mesh grabbing manipulator tray, the problem of the mesh sizes of various mines not being uniform and not being able to be grabbed is solved. The problem of the drill rod and the mesh grabbing manipulator being equally spaced and the drill rod just drilling on the mesh steel bars when impacting and rotating is successfully avoided.

[0062] Furthermore, the top surface outer circle of the double-end flange 8 is processed with a top flange hole 801, the center of the double-end flange 8 is processed with a groove 803, the periphery of the groove 803 is processed with a bottom flange hole 802, and the center of the groove 803 is processed with a first center hole 804. The double-end flange 8 can be connected to the net catching disc 2 and the rotating cylinder 6 at the same time.

[0063] Furthermore, the rotary oil cylinder 6 comprises a cylinder body 603, a second center hole 601 is processed in the center of the cylinder body 603, a top flange 602 is processed at the top of the cylinder body 603, the second center hole 601 is used to pass the tie rod 16, and the top flange 602 is used to connect the double-end flange 8. The rotary oil cylinder 6 can be used to support the fixed oil cylinder mounting seat 7 and guide the tie rod 16.

[0064] Furthermore, a cylinder installation cavity 702 is processed at the center of the oil cylinder mounting seat 7, a window 703 is arranged on the side of the oil cylinder installation cavity 702, a third bolt hole 701 is processed at the periphery of the top of the oil cylinder mounting seat 7 and is fixedly connected to the rotating oil cylinder 6 through the long bolt 9, and a fourth bolt hole 701 for fixing the push-pull small oil cylinder 10 is processed at the position of the oil cylinder installation cavity 702. The above-mentioned oil cylinder mounting seat 7 can be used to fix and install the push-pull small oil cylinder 10, and then the push-pull small oil cylinder 10 provides the opening or retracting power of the semi-toothed pressure plate 5, and at the same time plays a good protective role for the push-pull small oil cylinder 10.

[0065] Furthermore, the semi-toothed pressure plate 5 includes a gear cylinder 504, a gear 505 is processed on the gear cylinder 504, a pressure plate 502 is arranged on the outer wall of the gear cylinder 504, an arc-shaped side plate 501 is arranged between the pressure plate 502 and the outer wall of the gear cylinder 504, and a central shaft hole 503 for installing the rotating shaft 13 is processed at the center of the gear cylinder 504. The semi-toothed pressure plate 5 can form a gear rack transmission with the double-sided toothed block 12 through the above-mentioned semi-toothed pressure plate 5, and then the mesh is pressed and fixed by the rotation of the semi-toothed pressure plate 5 to open or close. During the working process, the pull rod 16 drives the double-sided toothed block 12, and the semi-toothed pressure plate 5 is driven by the double-sided toothed block 12, and the semi-toothed pressure plate 5 rotates around the rotating shaft 13 through the semi-toothed pressure plate 5.

[0066] Furthermore, the double-sided toothed block 12 includes a rectangular block body 1201, which is in sliding cooperation with the center of the net-catching disc 2. The bottom center of the rectangular block body 1201 is processed with an internal threaded hole 1204 for connecting the threaded sleeve 15. The top of the rectangular block body 1201 is symmetrically provided with a first rack 1202 and a second rack 1203. The first rack 1202 and the second rack 1203 respectively form a gear rack transmission with the corresponding semi-toothed pressure plate 5. The above-mentioned double-sided toothed block 12 can cooperate with the semi-toothed pressure plates 5 on both sides at the same time, and then the mesh is compressed by the semi-toothed pressure plates 5. During the working process, the double-sided toothed block 12 is driven by the pull rod 16, and the semi-toothed pressure plate 5 is driven to rotate by the double-sided toothed block 12.

[0067] Furthermore, an inner support column 14 is fixed to the center of the top of the pull rod 16, and the inner support column 14 is arranged inside the cavity of the internal threaded hole 1204. The inner support column 14 enhances the reliability of the support of the double-sided toothed block 12, thereby ensuring its stability. In addition, the inner support column 14 simultaneously limits the stroke of the double-sided toothed block 12, thereby controlling the opening and closing angles of the semi-toothed pressure plate 5.

[0068] Embodiment 2: A method for using an internally supported square-headed net-grabbing manipulator, wherein the method is implemented by using the internally supported square-headed net-grabbing manipulator, and comprises the following steps: Step 1: Installation of the net grabbing manipulator: The net grabbing manipulator is fixedly installed on the working mechanism of the anchor trolley; S2, picking up the mesh: The working mechanism is controlled by the anchor trolley, and the net grabbing manipulator is driven to move to the position where the mesh is stored. At this time, the two semi-toothed pressing plates 5 are retracted inside the rectangular cover 1, and then the rectangular cover 1 and the net grabbing disc 2 are inserted into the mesh of the mesh; S3, mesh grip: After the net-catching disc 2 is inserted into place, the small push-pull oil cylinder 10 is started, and the pull rod 16 is driven by the small push-pull oil cylinder 10, and the double-sided toothed block 12 is driven by the pull rod 16, and the double-sided toothed block 12 is meshed with the semi-toothed pressure plates 5 on both sides at the same time, and then the two groups of semi-toothed pressure plates 5 are rotated and opened around the rotating shaft 13, and the net is clamped on the net-catching disc 2; S4, picking up the mesh: After the mesh is grasped, the working mechanism of the anchor trolley is controlled to move the mesh grasping manipulator to the mesh installation position; S5, mesh rotation adjustment: When the installation angle of the mesh needs to be adjusted, the rotary cylinder on the mesh grabbing manipulator is started, and the rotary cylinder drives the entire mesh grabbing manipulator to rotate, thereby driving the corresponding mesh to rotate to achieve angle adjustment; S6, mesh fixation: After the mesh angle is adjusted, the pull rod 16 is driven by the push-pull small oil cylinder 10, and the double-sided toothed block 12 is driven by the pull rod 16. The double-sided toothed block 12 is meshed with the half-toothed pressure plates 5 on both sides at the same time, and then the two groups of half-toothed pressure plates 5 are rotated and retracted around the rotating shaft 13, and then the mesh is released after the two half-toothed pressure plates 5 are synchronously retracted, and then the anchor is driven into the anchor with the help of the anchor trolley, so as to fix the mesh in the mine cave; S7, resetting of the net-grabbing manipulator; After the previous mesh is fixed, repeat S2-S6 to finally install all the meshes.

[0069] Working principle of the present invention: The present invention utilizes the 20# hole in the center of the rotating oil cylinder and cleverly installs the push-pull small oil cylinder at the bottom of the rotating oil cylinder with a pull rod, and at the same time solves the problem that the net grabbing manipulator grabs the net disc 2 and rotates 360 degrees without dead angles after grabbing the net. The push-pull small oil cylinder is kept stationary, thereby solving the problem that floating stones on the mine roof often fall off and damage the hydraulic oil cylinder joint.

Claims

1. Internally supported square head net grabbing manipulator, characterized in that: The invention comprises a net-grabbing disc (2), a rectangular cover (1) being fixed at the central part of the net-grabbing disc (2), half-toothed pressing plates (5) being rotatably mounted on both sides of the inner part of the rectangular cover (1) via a rotating shaft (13), a double-sided toothed block (12) being mounted at the middle part of two groups of half-toothed pressing plates (5) via gear meshing, the lower part of the double-sided toothed block (12) being slidably arranged at the central part of the net-grabbing disc (2), the bottom end of the double-sided toothed block (12) being fixedly connected to the end of a pull rod (16) via a threaded sleeve (15), the other end of the pull rod (16) passing through a double-end flange (8) and a rotating oil cylinder (6) in sequence and being fixedly connected to the piston rod of a push-pull small oil cylinder (10), the push-pull small oil cylinder (10) being fixed inside an oil cylinder mounting seat (7), the double-end flange (8) being connected to the net-grabbing disc (2) and the rotating oil cylinder (6) at the same time, and the oil cylinder mounting seat (7) being fixedly mounted at the end of the rotating oil cylinder (6).

2. According to claim 1, the inner support type square head net grabbing manipulator is characterized in that: The rectangular cover (1) comprises a rectangular block (101), a rectangular groove (104) is arranged in the middle of the rectangular block (101), shaft holes (102) for mounting the rotating shaft (13) are symmetrically arranged on both sides of the interior of the rectangular groove (104), radial locking bolt holes (103) are processed on the side end surface of the rectangular block (101) and at the location of the shaft hole (102), and a plurality of groups of first bolt holes (105) are symmetrically processed on the bottom end surface of the rectangular block (101) and are fixedly connected to the net-catching disc (2) by bolts.

3. According to claim 2, the inner support type square head net grabbing manipulator is characterized in that: An upper arc block (3) is installed at the top of the rectangular groove (104), and the upper arc block (3) is in contact with and matched with an arc cover (4) fixed on the top of the semi-toothed pressure plate (5); A lower arc block (17) is installed at the bottom of the rectangular groove (104), and the lower arc block (17) is in contact with the lower part of the semi-toothed pressing plate (5).

4. The inner-supported square-head net-grabbing manipulator according to claim 1 is characterized in that: The net-catching disc (2) comprises a disc body (201), the end surface of the disc body (201) is processed with a plurality of mesh accommodating grooves (202) arranged crosswise in the horizontal and longitudinal directions, a rectangular cover mounting groove (204) is arranged at the center of the disc body (201), a rectangular groove (206) is processed at the center of the rectangular cover mounting groove (204), and a double-sided toothed block (12) and the rectangular groove (206) form a sliding fit; a stepped hole (203) is processed on the disc body (201), the position where the stepped hole (203) is located is fixedly connected to the top end of the double-end flange (8) by bolts, a second bolt hole (205) is processed on the rectangular cover mounting groove (204), and the rectangular cover (1) is fixedly mounted at the position where the second bolt hole (205) is located by bolts.

5. According to claim 1, the inner support type square head net grabbing manipulator is characterized in that: The top end surface outer circle of the double-end flange (8) is processed with a top flange hole (801), the central part of the double-end flange (8) is processed with a groove (803), the periphery of the groove (803) is processed with a bottom flange hole (802), and the central part of the groove (803) is processed with a first center hole (804).

6. The inner-supported square-head net-grabbing manipulator according to claim 1 is characterized in that: The rotary cylinder (6) comprises a cylinder body (603), a second center hole (601) is processed at the center of the cylinder body (603), a top flange (602) is processed at the top of the cylinder body (603), the second center hole (601) is used to pass the pull rod (16), and the top flange (602) is used to connect the double-end flange (8).

7. The inner-supported square-head net-grabbing manipulator according to claim 1 is characterized in that: The center of the oil cylinder mounting seat (7) is processed with an oil cylinder mounting cavity (702), and a window (703) is arranged on the side of the oil cylinder mounting cavity (702). A third bolt hole (701) is processed on the periphery of the top end of the oil cylinder mounting seat (7) and is fixedly connected to the rotating oil cylinder (6) by means of long bolts (9). A fourth bolt hole (701) for fixing the small push-pull oil cylinder (10) is processed at the location of the oil cylinder mounting cavity (702).

8. The inner-supported square-head net-grabbing manipulator according to claim 1 is characterized in that: The semi-toothed pressure plate (5) comprises a gear column (504), a gear (505) being machined on the gear column (504), a pressure plate (502) being arranged on the outer wall of the gear column (504), an arc-shaped side plate (501) being arranged between the pressure plate (502) and the outer wall of the gear column (504), and a central shaft hole (503) for mounting a rotating shaft (13) being machined at the central portion of the gear column (504).

9. The inner-supported square-head net-grabbing manipulator according to claim 1 is characterized in that: The double-sided toothed block (12) comprises a rectangular block body (1201), the rectangular block body (1201) and the center of the net-catching disc (2) form a sliding fit, the bottom center of the rectangular block body (1201) is processed with an internal threaded hole (1204) for connecting the threaded sleeve (15), and the top of the rectangular block body (1201) is symmetrically provided with a first rack (1202) and a second rack (1203), and the first rack (1202) and the second rack (1203) respectively form a gear rack transmission with the corresponding semi-toothed pressure plate (5); An inner support column (14) is fixed to the center of the top end of the pull rod (16), and the inner support column (14) is arranged inside the cavity of the internal threaded hole (1204).

10. The method for using the internally supported square head net grabbing manipulator is characterized in that: The method of use is implemented by using the internally supported square head net grabbing manipulator according to any one of claims 1 to 9, and comprises the following steps: Step 1: Installation of the net grabbing manipulator: The net grabbing manipulator is fixedly installed on the working mechanism of the anchor trolley; S2, picking up the mesh: The working mechanism is controlled by the anchor trolley, and the net grabbing manipulator is driven to move to the position where the mesh is stored. At this time, the two semi-toothed pressure plates (5) are retracted inside the rectangular cover (1), and then the rectangular cover (1) and the net grabbing disc (2) are inserted into the mesh holes of the mesh; S3, mesh grip: After the net-catching disc (2) is inserted into place, the small push-pull oil cylinder (10) is started, and the pull rod (16) is driven by the small push-pull oil cylinder (10), and the double-sided toothed block (12) is driven by the pull rod (16), and the double-sided toothed block (12) is meshed with the semi-toothed pressure plates (5) on both sides at the same time, and then the two groups of semi-toothed pressure plates (5) are rotated and opened around the rotating shaft (13), and the net is clamped on the net-catching disc (2); S4, picking up the mesh: After the mesh is grasped, the working mechanism of the anchor trolley is controlled to move the mesh grasping manipulator to the mesh installation position; S5, mesh rotation adjustment: When the installation angle of the mesh needs to be adjusted, the rotary cylinder on the mesh grabbing manipulator is started, and the rotary cylinder drives the entire mesh grabbing manipulator to rotate, thereby driving the corresponding mesh to rotate to achieve angle adjustment; S6, mesh fixation: After the mesh angle is adjusted, the pull rod (16) is driven by the push-pull small oil cylinder (10), and the pull rod (16) drives the double-sided toothed block (12), and the double-sided toothed block (12) is meshed with the half-toothed pressure plates (5) on both sides at the same time, so that the two groups of half-toothed pressure plates (5) are rotated and retracted around the rotating shaft (13), and then the mesh is released after the two half-toothed pressure plates (5) are synchronously retracted, and then the anchor is driven into the mesh with the help of the anchor trolley, so that the mesh is fixed on the top or side of the mine cave; S7, resetting of the net-grabbing manipulator; After the previous mesh is fixed, repeat S2-S6 to finally install all the meshes.

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